collision_resolution.h

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#ifndef COLLISION_RESOLUTION_H
#define COLLISION_RESOLUTION_H

#include <tuw_global_router/srr_utils.h>
#include <tuw_global_router/route_coordinator.h>
#include <tuw_global_router/potential_calculator.h>
//TODO
//remember Vertex
//remember Collisions

namespace multi_robot_router
{
class CollisionResolution
{
  public:
    virtual void resetSession(const RouteCoordinatorWrapper *_route_querry, const PotentialCalculator *_pCalc, const uint32_t _robot_radius) = 0;
    virtual std::vector<std::reference_wrapper<Vertex>> resolve(Vertex &_current, Vertex &_next, int32_t _collision) = 0;
    virtual const std::vector<uint32_t> &getRobotCollisions() const = 0;
    virtual void saveCollision(const uint32_t _coll) = 0;
};
} // namespace multi_robot_router
#endif // HEURISTIC_H